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Robust control reconfiguration of resource allocation systems with Petri nets and integer programming

Robust control reconfiguration of resource allocation system...

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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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A New Class of Learning Automata for Selecting an Optimal Subset

A New Class of Learning Automata for Selecting an Optimal Su...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： JunQi Zhang ZeZhou Li Qi Kang MengChu Zhou Key Laboratory of Embedded System and Service Computing Ministry of Education Department of Computer Science and Technology Tongji University Department of Control Science and Engineering Tongji University Department of Electrical and Computer Engineering New Jersy Institute of Technology

ISBN: (纸本)9781479938414

Interacting with a random environment, Learning Automata (LAs) are automata that, generally, have the task of learning the optimal action based on responses from the environment. Distinct from the traditional goal of Learning Automata to select only the optimal action out of a set of actions, this paper considers a multiple-action selection problem and proposes a novel class of Learning Automata for selecting an optimal subset of actions. Their objective is to identify the optimal subset: the top k out of r actions. Based on conventional continuous pursuit and discretized pursuit learning schemes, this paper introduces four pursuit learning schemes for selecting the optimal subset, called continuous equal pursuit, discretized equal pursuit, continuous unequal pursuit and discretized unequal pursuit learning schemes, respectively. In conjunction with a reward-inaction learning paradigm, the above four schemes lead to four versions of pursuit Learning Automata for selecting the optimal subset. The simulation results present a quantitative comparison between them.

关键词： Learning Automata Optimal subset Pursuit algorithm

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Time-stepping Methods for Constructing Periodic Solutions in Maximally Monotone Set-valued Dynamical Systems

Time-stepping Methods for Constructing Periodic Solutions in...

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IEEE Annual Conference on Decision and control

作者： W. P. M. H. Heemels V. Sessa F. Vasca M. K. Camlibel Control Systems Technology group Department of Mechanical Engineering Eindhoven Univeristy of Technology the Netherlands Department of Engineering University of Sannio Benevento Italy Johan Bernoulli Institute for Mathematics and Computing Science University of Groningen the Netherlands

ISBN: (纸本)9781467360890

In this paper we study a class of set-valued dynamical systems that satisfy maximal monotonicity properties. This class includes linear relay systems, linear complementarity systems, and linear mechanical systems with dry friction under certain conditions. We discuss two numerical time-stepping schemes for the computation of periodic solutions of these systems when being periodically excited. For these two schemes we will provide formal mathematical justifications and compare them in terms of approximation accuracy and computation time using a numerical example.

关键词： Steady-state Piecewise linear approximation Accuracy Context Numerical models Interpolation

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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Team of Bayesian optimization algorithms to solve task assignment problems in heterogeneous computing systems

Team of Bayesian optimization algorithms to solve task assig...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Jie Li JunQi Zhang Qi Kang ChangJun Jiang Ministry of Education China Key Laboratory of Embedded System and Service Computing Department of Computer Science and Technology Tongji University Shanghai Department of Control Science and Engineering Tongji University Shanghai China

ISBN: (纸本)9781479938414

A Bayesian optimization algorithm (BOA) belongs to estimation of distribution algorithms (EDAs). It is characterized by combining a Bayesian network and evolutionary algorithms to solve nearly decomposable optimization problems. BOA is less popularly applied to solve high dimensionality complex optimization problems. A key reason is that the cost of training all dimensions by BOA becomes expensive with the increase of problem dimensionality. Since data are relatively sparse in a high dimensional space, even though BOA can train all dimensions simultaneously, the interdependent relations between different dimensions are difficult to learn. Its search ability is thus significantly reduced. In this paper, we propose a team of Bayesian optimization algorithms (TBOA) to search and learn dimensionality. TBOA consists of multiple BOAs, in which each BOA corresponds to a dimension of the solution domain and it is responsible for the search of this dimension's value region. The proposed TBOA is used to solve the real problem of task assignment in heterogeneous computing systems. Extensive experiments demonstrate that the computational cost of the overall training in TBOA is decreased very significantly while keeping high solution accuracy.

关键词： Bayes methods Sociology Statistics Optimization Computational efficiency Joints Probability distribution

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Parametric model order reduction by sparse-grid-based interpolation on matrix manifolds for multidimensional parameter spaces

Parametric model order reduction by sparse-grid-based interp...

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European control Conference (ECC)

作者： Matthias Geuss Daniel Butnaru Benjamin Peherstorfer Hans-Joachim Bungartz Boris Lohmann Department of Mechanical Engineering Institute of Automatic Control Technische Universität München Garching Germany Department of Informatics Scientific Computing Group Technische Universität München Garching Germany

ISBN: (纸本)9781479947287

Current methods of parametric model order reduction based on the interpolation of system matrices are extended in this paper to an efficient method to tackle multidimensional parameter spaces. In order to overcome the curse of dimensionality the technique of sparse grids with multiple outputs is applied. The procedure is divided into an offline and online phase. In the offline phase the weighting matrices to the corresponding basis functions are computed with respect to generalized coordinates and appropriate matrix manifolds. The number of levels for the sparse grid can be set manually or determined by a tolerance criterion. The calculation of the interpolated system takes place during the online phase by evaluating the interpolant. The performance of the proposed method is demonstrated by two numerical examples.

关键词： Interpolation Sparse matrices Vectors Accuracy Manifolds Aerospace electronics

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The MS kinect image and depth sensors use for gait features detection

The MS kinect image and depth sensors use for gait features ...

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IEEE International Conference on Image Processing

作者： A. Procházka M. Schätz O. Ťupa M. Yadollahi O. Vyšata M. Walls Dept of Computing and Control Engineering Institute of Chemical Technology Prague 6 CZ Department of Neurology Charles University Hradec Králové CZ Univerzita Karlova Praha CZ

Movement disorders, problems with motion and gait stability related to aging form a very intensively studied research area. The paper presents a contribution to these topics through the use of data acquired by motion sensors and namely image and depth sensors of the MS Kinect. While video sequences obtained by complex camera systems can be used for the precise gait features evaluation, it is possible to use much cheaper devices for diagnostic purposes accurate enough in many cases. The experimental part of the study presents video sequences and depth sensors data acquisition for 18 individuals with the Parkinson's disease and 18 healthy age-matched controls using the proposed graphical user interface in the clinical environment. Results presented include the estimation of gait features to distinguish gait disorders and to classify individuals in the early stage of possible serious diseases. The accuracy achieved was higher then 90 % for given sets of individuals.

关键词： Sensors Accuracy Image sensors Legged locomotion Parkinson's disease Joints Cameras

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An EMG Enhanced Impedance and Force control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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A novel approach for localization of an indoor autonomous mobile surveillance robot 11

A novel approach for localization of an indoor autonomous mo...

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2014 11th World Congress on Intelligent control and Automation, WCICA 2014

作者： Jiang, Guolai Syed, Muhammad Umer Liu, Letian Ou, Yongsheng Xu, Yangsheng Malik, Muhammad Sarfaraz Chandio, Aftab Ahmed Center for Intelligent and Biomimetic Systems Institute of Advanced Integration Technology Chinese Academy of Sciences Guangdong China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Lab of Simulation and Intelligent Control University of Science and Technology of China Heife China Center for Cloud Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781479958252

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research. © 2014 IEEE.

关键词： Indoor positioning systems

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